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Dynamics of Mechatronics Systems: Modeling, Simulation, Control,

Optimization and Experimental Investigations

Book · October 2016

DOI: 10.1142/10193

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July 14, 2016 14:53 ws-book961x669 DYNAMICS OF MECHATRONIC SYSTEMS 10193-main page 1

Chapter 1

Introduction

1.1 Mechatronics

The creators of curricula at technical universities have known for a long time that
a good designer, apart from the skills of coding, should possess interdisciplinary
knowledge. In addition to teaching mechanics, strength of materials, basics of con-
struction and mechanical technology, many mechanical engineering faculties con-
ducted classes in electrical engineering, electronics, automation, hydraulics and
pneumatics, information technology, measuring instruments, machinery architec-
ture, and other. The engineer educated according to this curriculum is expected to
have broad knowledge and can choose the appropriate solution directly using known
techniques or the knowledge of experts he had known.
In 1969, a concept name mechatronics was invented in Japan (and later dis-
tributed in the 70s) to determine the synergistic use of knowledge of the basic
fields of technology. The word results from a combination of words mechanics and
electronics. Authors [Xie (2003)] and [Lerner and Trigg (2005)] give definitions
and descriptions of significance supplemented with graphs presenting the concept
of mechatronics. Figure 1.1 exhibits one of the patterns showing the relationship
between modern fields of technology which is presently observed in mechatronics.

electrotechnics electronics
computer
mechanics engineering
MECHATRONICS
informatics fluid
automatics engineering
control

Fig. 1.1 Relationship fields in mechatronics.

One of the greatest challenges in the development of mechatronic devices and

systems are, next to their variety, also progressive complexity and versatility [Scherz
and Monk (2013); Budynas and Nisbett (2015); Cetinkunt (2007)]. The progress of

1
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2 DYNAMICS OF MECHATRONIC SYSTEMS

civilization enforces researchers and engineers to search for non-coexisting solutions

in various fields of science and technology [Karnopp et al. (2012); Di Paola and
Cicirelli (2010)].
Noticeable lack of sufficiently well developed methods of dynamics analysis sup-
porting interdisciplinary aspects of processes of the development of mechatronic
devices and systems enhances the willingness to use an optimization theory and
different techniques of numerical modeling. The numerical simulation and some
related processing with measurement signals are highly correlated with advanced
optimization methods. In this context, the device and system models presented in
this monograph gain in importance and for many engineers should be an interesting
source of information about mathematical modeling of dynamical systems, numeri-
cal experiments, experimental measurement, and various optimization problems of
mechatronics.

1.2 Systems

System (gr. systema – complex object) – a physical or abstract object in which

reciprocal links can be distinguished. According to one of the criteria [Schmid
(2002)], systems can be divided into: abstract and physical, static and dynamic,
open and closed, autonomous and nonautonomous, etc.
System – an assembly of reciprocally incorporated elements fulfilling a specific
function and being treated as separated from the environment for a specific purpose,
i.e., descriptive, exploratory and other. For example, a technological process defines
a system. The concept of a system is used practically in all areas of human life and
refers to either phenomena, objects or processes in nature as well as those created
by people.

z(t) - disturbances
x1 (t) y1 (t)

input x2 (t) y2 (t) output

signals ... SYSTEM ... signals
... ...
xn (t) yn (t)

p - program

Fig. 1.2 Block diagram of system functioning.

We distinguish miscellaneous systems such as: social, political, nervous, nu-

merical, metric, solar, radio navigation, computer, and much more. In cybernetics
and exploratory systems, it is assumed that the environment influences the system
through input signals, which may be targeted at interactions (control, decisions) or
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Introduction 3

disturbances interferencing with the objective of the system. An important feature

of real systems are their dynamical properties. The properties are the cause of the
presence of the system in an equilibrium rest, in the steady state or in a transient
state which tends to an equilibrium or not. If dynamical properties are not essen-
tial, the system is treated as static [Zierep (1978)]. Block diagram of a system built
on the basis of that definition is shown in Fig. 1.2.

b5

16 8 1.5 1

b4 0
15
7 1.4 1
14
0
b3 15
1
6 1.3 13
12 0
S N
10 1.2

9 1.2
4 2 b21 a1 a2 a3
0 1
P
3 2
b22 5
1
3
4
air
0 1

1
5 1.1
b1
a)
1
1.5
0
1
1.4
0
1
1.3 p
0
1 b1
1.2 b21 a1
0
1 b22 a2
1.5 17
0 b23 a3
S b4 x
1.5 b5
0 w
b) 0 1 2 3 4 5 c) stop

Fig. 1.3 A pneumohydraulic system of actuating control of a planer of corners of PCV windows:
(a) pneumohydraulic scheme, (b) diagram of operation, (c) the controller [Lewandowski (2005)].

The pneumohydraulic system depicted in Fig. 1.3 is composed of the follow-

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4 DYNAMICS OF MECHATRONIC SYSTEMS

ing parts: 1 – strainer, 2 – reducing valve, 3 – manometer, 4 – lubricator, 5-8 –

monostable divide valves 2/2, 9 – bistable divide valve 5/2, 10 – pneumohydraulic
actuator with mutual damping, 11 – position reed switches, 12 – air lines, 13, 14
– chock valves, 15 – oil lines, 16 – pneumohydraulic relay of pressure, 17 – PLC
controller, ai – input signals, bij – output signals, x – a signal starting the cycle, w
– power “on” or “off”, stop – emergency turn off.

1.3 Units of Measurement

A physical quantity A is defined by a value {A} and a unit of measurement [A]:

A = {A}[A], e.g. v = 30 [m · s−1 ], ρ = 1.29 [kg · m−3 ] . (1.1)

The unit of measurement is a specific measure of the physical quantity which

serves as a template for the quantitative determination of other measures by com-
parison of these measures by numbers. By convention, the numerical value of the
reference measurement is equal to 1, thus:

A 45[m]
[A] = , e.g. [A] = = 1 [m]. (1.2)
{A} 45
In the metric system of measurement (SI), there are 7 well-defined basic units
and 2 supplementary units.
Basic units include:
1) meter [m] – length, 2) ampere [A] – electric current,
3) kilogram [kg] – mass, 4) mole [mol] – amount of a substance,
5) second [s] – time, 6) candela [cd] – luminous intensity,
7) kelvin [K] – thermodynamic temperature.
Supplementary units include:
8) radian [rad] – plane angle, 9) steradian [sr] – solid angle.

β = 1[sr] β = 1[sr]

r
φ = 1[rad]
r“
A = r2 r

Fig. 1.4 Graphical representation of radian φ and steradian β.

The currently used international system of units SI was adopted in 1960 at the
Ninth General Conference of Weights and Measures in Geneva. In mechanics, we use
3 basic units forming the MKS system, which are: meter [m], kilogram [kg], second
 July 14, 2016 14:53 ws-book961x669 DYNAMICS OF MECHATRONIC SYSTEMS 10193-main page 5

Introduction 5

[s]. The MKS measurement system is referred to as an absolute practical system of

units. The abovementioned set of units is also a LMT system whose name comes
from the first letters of the words: length, mass, time. The earlier absolute unit CGS
system (a part of the LMT system) used in physics consists of centimeter [cm], gram
[g] and second [s] (see in Table 3.1). In the basic units one finds systems of various
configurations. For example, 4-component LMTI or 6-component LMTIΘJ which
distinguishes length, mass, time, electric current, thermodynamic temperature and
brightness [Lerner and Trigg (2005)].

Table 1.1 Abbreviations of secondary units.

Name Abbr. Multiplicity Name Abbr. Multiplicity

peta P 1015 deci d 10−1

tera T 1012 centi c 10−2
giga G 10 9 milli m 10−3
mega M 10 6 micro µ 10−6
kilo k 10 3 nano n 10−9
hecto h 102 pico p 10−12
deka da 101 femto f 10−15

Apart from the basic units, their derivatives are also used, which are associated
with basic units by some respective dependencies.
Derived units, for instance: [N] = [kg · m · s−2 ], [J] = [kg · m2 · s−2 ], [Pa] =
[kg · m−1 · s−2 ], [W] = [kg · m2 · s−3 ], and others.
The basic units as well as their derivatives can act as main or secondary units.
Main unit in its value is equal to 1, and its denotation does not have any prefix,
e.g. [N], [kg], [J], [s], [Pa], [m], [W].
Secondary unit is greater or less than the main unit and is distinguished by a
prefix specifying an increased or decreased multiple. For example, [kW] = [103 W],
[cm] = [10−2 m], [ms] = [10−3 s], [µm] = [10−6 m], [MPa] = [106 Pa].
Non-SI unit is derived from the tradition of its application in a specific area. In
automotive engineering, the unit of power often is horsepower [hp] = [0.736 kW], in
thermal engineering we speak about calorie [cal] = [4.19 J], in meteorology – about
tor, which is equal to the pressure exerted.

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